Direct torque control with duty ratio (DTC-DR) schemes of five-phase permanent-magnet synchronous machines (PMSMs) are very simple and can achieve fast dynamic performance. However, low-order harmonic components of stator currents are very serious. Virtual voltage vectors based direct torque control with duty ratio (V3-DTC-DR) scheme has been proposed to eliminate the low order harmonics successfully, but it leads to the utilization reduction of dc-link voltage, and the speed regulation range is limited. The aforementioned two schemes cannot achieve the improvement of dc-link voltage utilization, and eliminate the low order harmonic simultaneously. In order to solve this problem, a new type of DTC scheme with the optimized duty ratio (DTC-ODR) is proposed, which can realize the perfect steady-state performance and the low-order harmonic elimination. In addition, the proposed method can improve the utilization of dc-link voltage by 15%, compared with V3-DTC-DR. Finally, a performance comparison of the proposed DTC-ODR, DTC-DR and V3-DTC-DR schemes has been presented on the five-phase PMSM drive hardware-in-loop (HIL) experimental platform. The experimental results have verified the feasibility and effectiveness of the proposed scheme.